CN106526627A - Track engine and method for realizing correlation integral processing - Google Patents
Track engine and method for realizing correlation integral processing Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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Abstract
The present invention provides a track engine and a method for realizing correlation integral processing. The track engine comprises a unit first-in first-out (FIFO) unit, controllers respectively arranged and corresponding to each satellite, and track channels correspondingly connected with each controller. The unit first-in first-out (FIFO) unit is configured to respectively transmit the received unit data to each controller; each controller is configured to determine the navigation signals required being processed by the track channels connected with each controller, detect the first unit data including the data initial point of the navigation signals and transmit each unit data to the track channels connected with each controller from the unit data including the data initial point; and each track channel is configured to perform correlation integral calculation of each unit data according to the detected data initial point. According to the embodiment of the invention, the data storage length of the FIFO is reduced to realize the parallel application of the track channels and improve the usage efficiency of the track engine hardware resource.
Description
Technical Field
The present disclosure relates to signal processing technologies, and more particularly, to a tracking engine and a method for performing correlation integration processing.
Background
Global Navigation Satellite Systems (GNSS) play an increasingly irreplaceable important role in people's daily life, and are finding increasing applications particularly in the fields of navigation, timing, surveying and mapping, and the like. Currently, the global satellite navigation system mainly includes the Global Positioning System (GPS) in the united states, the Beidou (BD) system in china, the global navigation satellite positioning system (GLONASS) in russia, and the Galileo (Galileo) system in europe. In China and Asia-Pacific region, GPS and Beidou system are widely applied; in Russia, GPS and GLONASS are used more frequently. Since the galileo system is far from mature, formal services are not yet available. Of the four major satellite navigation systems, the GPS, BD and galileo all use Code Division Multiple Access (CDMA) signal systems, and only the GLONASS system uses Frequency Division Multiple Access (FDMA) signal systems.
The hardware part of the navigation receiver mainly comprises: a Pre-Processing module (PP), an Acquisition Engine (AE) search module, a Tracking Engine (TE) correlation integration module, etc. The software part mainly comprises: a PVT (position, Velocity, Timing) module, a tracking loop and tracking discriminator, an overall scheduling module, etc. Among them, the hardware resource of the trace engine is also often used as the hardware resource of the Re-acquisition (Re-acquisition engine) module.
In order to accelerate the acquisition speed (generally, shorten the cold start acquisition time), the navigation receiver is usually configured with a plurality of parallel hardware channels, which can realize the simultaneous acquisition of a plurality of satellites; for example, when 32 hardware channels are configured, 32 navigation satellites can be acquired simultaneously. Also, in order to increase the reacquisition speed, navigation receivers generally have multiple parallel hardware tracking (reacquisition) channels. The tracking (reacquisition) engine is much less computationally intensive than the Acquisition Engine (AE), because the tracking engine does not need to perform a large two-dimensional search, and therefore the tracking engine does not need to be configured with as many hardware tracking channels, for example, 4 hardware tracking channels plus time division multiplexing are configured to "simultaneously" track 64 navigation satellites. Fig. 1 is a block diagram of a tracking engine in the related art, which is a component of a tracking engine of a navigation system of a CDMA system, and as shown in fig. 1, the tracking engine includes: the system comprises a first-in first-out (FIFO) unit, a controller and a plurality of hardware tracking channels; the Acquisition Engine (AE) acquires navigation signals of a plurality of satellites which are superposed together, and after A2T (AE to TE) conversion operation, a 1ms data starting point (in FIFO) corresponding to each satellite can be roughly obtained; here, the 1ms data may correspond to one complete ranging code period, and there is no bit jump of the navigation signal inside the 1ms data. Since the delay of each satellite is different (the starting point of the 1ms data in the FIFO unit of each satellite is different), at least 2 milliseconds (ms) of data need to be stored in order to store a complete 1ms data segment for all satellites.
The navigation receiver typically generates an interrupt in 1ms, and each time an interrupt is generated, the hardware portion of the tracking engine provides a 1ms long correlation integration result to the software portion. Since the correlation integration duration is typically an entire millisecond in length, choosing a 1ms interrupt once is advantageous for setting the correlation integration duration. Of course, each interruption of the hardware part provides the software part with the correlation integration results of all the tracked satellites; for example, when 64 satellites are included, the hardware part of the tracking engine needs to provide the correlation integration results of the 64 satellites to the software part. Specifically, after the control information of the 1 st satellite is read, a 1ms data starting point in the FIFO unit corresponding to the 1 st satellite is obtained; sequentially reading out 1ms data sample points from the FIFO unit and providing the data sample points to a tracking channel in a tracking engine; and the tracking channel executes correlation integration operation for the 1 st satellite according to the obtained data sample points, and finally obtains a 1ms correlation integration result of the 1 st satellite. Because the delay is different, the starting point of the 1ms data of each satellite in the FIFO unit is different, and the FIFO unit in the related technology has only one read data port, even if a plurality of hardware tracking channels are configured, the navigation signal of each satellite can be processed only in a serial mode according to the processing method. After the current 1ms data of all the satellites are processed, the data are updated, and the 1ms data starting point in the FIFO unit corresponding to each satellite is updated. The data updating comprises the following steps: the oldest 1ms data is shifted out of the FIFO element and then the 1ms most recent data is shifted in, after the previous 1ms data, thereby maintaining a data length of 2 ms. When the data starting point is updated, the end point of the previous 1ms data is mapped to the data point after the FIFO unit is updated.
In summary, due to the asynchronous navigation signals of multiple satellites and the limitation of the number of read/write ports of a FIFO (first in first out) memory of the tracking engine, even if multiple hardware tracking channels are set, the tracking channels cannot be used in parallel, which affects the utilization rate of hardware resources of the tracking engine.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The embodiment of the invention provides a tracking engine and a method for realizing correlation integral processing, which can realize a tracking channel and improve the working performance of the tracking engine.
An embodiment of the present invention provides a tracking engine, including: the unit FIFO unit, the controllers which are respectively arranged corresponding to the satellite and the tracking channels which are connected with the controllers according to the one-to-one corresponding relation; wherein,
the unit FIFO unit is used for transmitting the received unit data to each controller according to a preset period;
each controller is respectively used for determining navigation signals to be processed of a tracking channel connected with the controller; detecting the first unit data containing the data starting point of the navigation signal from the unit data output by the FIFO; starting from the detected unit data containing the data starting point, sending each unit data to a tracking channel connected with the tracking channel;
each tracking channel is respectively used for receiving the unit data sent by the controller and respectively carrying out correlation integral calculation on each unit data according to the detected data starting point to obtain a correlation integral result;
wherein, the unit data is superposed with navigation signals of two or more satellites;
the unit includes: a minimum length unit of one ranging code period.
Optionally, the unit data includes: the data length is 1 millisecond of data.
Optionally, each of the controllers is further configured to, when detecting a first unit data including a data start point of the navigation signal, record the detected unit data including the data start point of the navigation signal through preset control bit information.
Optionally, the tracking channel is configured to perform correlation integral calculation on each unit data according to the detected data starting point, and includes:
for the unit data of the detected data starting point, carrying out correlation integral calculation of the data of unit length from the detected data starting point, and marking the ending position of the unit length by identification information;
and for each unit data after the unit data of the starting point of the data are detected, performing correlation integral calculation of the data of one unit length from the end position according to the identification information, and marking the end position of the unit length when the correlation integral calculation of each unit data is completed through the identification information.
Optionally, the identification information includes: count information.
On the other hand, an embodiment of the present invention further provides a method for implementing correlation integration processing, including:
respectively transmitting the unit data to preset controllers which correspond to the satellites one by one according to a preset period;
each controller respectively determines navigation signals to be processed of a tracking channel connected with the controller; detecting a first unit data including a data start point of the navigation signal from the received unit data;
starting from the detected unit data containing the data starting point, sending each unit data to a tracking channel connected with the tracking channel;
each tracking channel respectively carries out correlation integral calculation on each received unit data according to the detected corresponding data starting point to obtain a correlation integral result;
wherein, the unit data is superposed with navigation signals of two or more satellites;
the unit includes: a minimum length unit of one ranging code period.
Optionally, the unit data includes: the data length is 1 millisecond of data.
Optionally, when the first unit data including the starting point of the data of the navigation signal is detected, the method further includes:
and recording the detected unit data of the first data starting point containing the navigation signal through preset control bit information.
Optionally, the performing the correlation integral calculation on each unit data according to the detected data starting point includes:
for the unit data of the detected data starting point, carrying out correlation integral calculation of the data of unit length from the detected data starting point, and marking the ending position of the unit length by identification information;
and for each unit data after the unit data of the starting point of the data are detected, performing correlation integral calculation of the data of one unit length from the end position according to the identification information, and marking the end position of the unit length when the correlation integral calculation of each unit data is completed through the identification information.
Optionally, the identification information includes: count information.
In another aspect, an embodiment of the present invention further provides a receiver, including: the device comprises an acquisition unit, a generation unit and a starting processing unit; wherein,
compared with the related art, the technical scheme of the application comprises the following steps: the unit FIFO unit, the controllers which are respectively arranged corresponding to the satellite and the tracking channels which are connected with the controllers according to the one-to-one corresponding relation; the unit FIFO unit is used for transmitting the received unit data to each controller according to a preset period; each controller is respectively used for determining navigation signals to be processed of a tracking channel connected with the controller; detecting the first unit data containing the data starting point of the navigation signal from the unit data output by the FIFO; starting from the detected unit data containing the data starting point, sending each unit data to a tracking channel connected with the tracking channel; each tracking channel is respectively used for receiving the unit data sent by the controller and respectively carrying out correlation integral calculation on each unit data according to the detected data starting point to obtain a correlation integral result; wherein, the unit data is superposed with navigation signals of two or more satellites; the unit includes: a minimum length unit of one ranging code period. The unit FIFO unit only needs to store the data of the minimum length unit of one ranging code period, so that the data storage length of the FIFO is reduced; the parallel application of the tracking channels is realized through the arranged controller corresponding to the satellite, and the use efficiency of hardware resources of the tracking engine is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a block diagram showing a structure of a tracking engine in the related art;
FIG. 2 is a block diagram of a trace engine according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for implementing a correlation integration process according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
Fig. 2 is a block diagram of a tracking engine according to an embodiment of the present invention, as shown in fig. 2, including: the unit FIFO unit, the controllers which are respectively arranged corresponding to the satellite and the tracking channels which are connected with the controllers according to the one-to-one corresponding relation; wherein,
the unit FIFO unit is used for transmitting the received unit data to each controller according to a preset period;
here, the preset period is a transmission period inherent to the trace engine in the related art.
The unit includes: a minimum length unit of one ranging code period; the unit data is superposed with navigation signals of two or more satellites; here, the data includes the same content as that of the data in the related art, and the data length of the data sent to each controller by the embodiment of the present invention is smaller than that in the related art.
Optionally, in an embodiment of the present invention, the unit data includes: the data length is 1 millisecond of data.
Each controller is respectively used for determining navigation signals to be processed of a tracking channel connected with the controller; detecting the first unit data containing the data starting point of the navigation signal from the unit data output by the FIFO; starting from the detected unit data containing the data starting point, sending each unit data to a tracking channel connected with the tracking channel;
it should be noted that the starting point of the data in the embodiment of the present invention may be determined by referring to a frame structure of the data including the navigation signal in the related art. Different controllers correspond to different satellites, and the detected data starting point is different due to different delays. The first unit of data containing the starting point of the data is typically the unit of data output by the first or second unit FIFO cell.
Each tracking channel is respectively used for receiving the unit data sent by the controller and respectively carrying out correlation integral calculation on each unit data according to the detected data starting point to obtain a correlation integral result;
optionally, the following channel in the embodiment of the present invention is configured to perform correlation integral calculation on each unit data according to the detected data starting point, and includes:
for the unit data of the detected data starting point, carrying out correlation integral calculation of the data of unit length from the detected data starting point, and marking the end position of the unit length by identification information;
and for each unit data after the unit data of the starting point of the data are detected, performing correlation integral calculation of data with one unit length from the end position according to the identification information, and marking the end position of the unit length when the correlation integral calculation is completed by each unit data through the identification information.
It should be noted that, in the embodiment of the present invention, the unit data is processed one by one, that is, one identification information is used only in one determination of the starting position of the correlation integral calculation.
Optionally, the identifier information in the embodiment of the present invention includes: count information.
Here, when the identification information is count information, the count information is updated according to a set count rule every time the correlation integral calculation of data of one unit length is completed. For example, 1 is added successively.
It should be noted that, the sequence of performing the correlation integral calculation according to the embodiment of the present invention is the same as the sequence of outputting the unit data by the unit FIFO unit, and if the starting point of the data is the starting point of one unit data, the correlation integral calculation is performed on each unit data; if the starting point of the data is not the starting point of a unit data, for example, the starting point of the unit data is the middle point of the data, when the correlation integral calculation is performed, the middle point of the current unit data to the middle point of the next unit data is a complete data, a complete correlation integral calculation of the correlation integral calculation process of the partial data is performed, and the obtained result is a complete correlation integral calculation result. The embodiment of the invention marks the end position of the unit length through the identification information, thereby determining the starting position and the end position of a complete datum.
Optionally, in the embodiment of the present invention, each of the controllers is further configured to, when detecting the unit data of the first data start point including the navigation signal, record the detected unit data of the first data start point including the navigation signal through preset control bit information.
It should be noted that the tracking engine of the embodiment of the present invention can be applied to the navigation receiver in the related art.
The unit FIFO unit only needs to store the data of the minimum length unit of one ranging code period, so that the data storage length of the FIFO is reduced; the parallel application of the tracking channels is realized through the arranged controller corresponding to the satellite, and the use efficiency of hardware resources of the tracking engine is improved.
Fig. 3 is a flowchart of a method for implementing a correlation integration process according to an embodiment of the present invention, as shown in fig. 3, including:
step 300, respectively transmitting the single-bit data to preset controllers which correspond to the satellites one by one according to a preset period;
here, the preset period is a transmission period inherent to the trace engine in the related art.
Step 301, each controller respectively determines a navigation signal to be processed of a tracking channel connected with the controller; detecting a first unit data including a data start point of the navigation signal from the received unit data;
wherein, the unit data is superposed with navigation signals of two or more satellites;
the unit includes: a minimum length unit of one ranging code period.
It should be noted that the first unit data including the starting point of the data in the embodiment of the present invention is generally the first or the second unit data.
Optionally, the unit data in the embodiment of the present invention includes: the data length is 1 millisecond of data.
Step 302, starting from the detected unit data containing the data starting point, sending each unit data to a tracking channel connected with the tracking channel;
it should be noted that the starting point of the data in the embodiment of the present invention may be determined by referring to a frame structure of the data including the navigation signal in the related art. Different controllers correspond to different satellites, and the detected data starting point is different due to different delays.
Step 303, each tracking channel respectively performs correlation integral calculation on each received unit data according to the detected corresponding data starting point to obtain a correlation integral result;
it should be noted that, in the embodiment of the present invention, only the data of the minimum length unit of one ranging code period needs to be stored, so that the data storage length is reduced; the parallel application of the tracking channels is realized through the arranged controller corresponding to the satellite, and the use efficiency of hardware resources of the tracking engine is improved.
Optionally, the performing, according to the detected data starting point, correlation integral calculation on each unit of data respectively includes:
for the unit data of the detected data starting point, carrying out correlation integral calculation of the data of unit length from the detected data starting point, and marking the end position of the unit length by identification information;
and for each unit data after the unit data of the starting point of the data are detected, performing correlation integral calculation of data with one unit length from the end position according to the identification information, and marking the end position of the unit length when the correlation integral calculation is completed by each unit data through the identification information.
It should be noted that, in the embodiment of the present invention, the unit data is processed one by one, that is, one identification information is used only in one determination of the starting position of the correlation integral calculation.
Optionally, the identification information includes: count information.
Here, when the identification information is count information, the count information is updated according to a set count rule every time the correlation integral calculation of data of one unit length is completed. For example, 1 is added successively.
It should be noted that, the sequence of performing the correlation integral calculation is the same as the sequence of outputting the unit data, and if the starting point of the data is the starting point of one unit data, the correlation integral calculation is performed on each unit data; if the starting point of the data is not the starting point of a unit data, for example, the starting point of the unit data is the middle point of the data, when the correlation integral calculation is performed, the middle point of the current unit data to the middle point of the next unit data is a complete data, a complete correlation integral calculation of the correlation integral calculation process of the partial data is performed, and the obtained result is a complete correlation integral calculation result. The embodiment of the invention marks the end position of the unit length through the identification information, thereby determining the starting position and the end position of a complete datum.
Optionally, when the first unit data including the starting point of the data of the navigation signal is detected, the method according to the embodiment of the present invention further includes:
and recording the detected unit data of the first data start point containing the navigation signal through preset control bit information.
It should be noted that the tracking engine of the embodiment of the present invention can be applied to the navigation receiver in the related art.
The embodiment of the invention only needs to store the data of the minimum length unit of one ranging code period, thereby reducing the data storage length; the parallel application of the tracking channels is realized through the arranged controller corresponding to the satellite, and the use efficiency of hardware resources of the tracking engine is improved.
It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by a program instructing associated hardware (e.g., a processor) to perform the steps, and the program may be stored in a computer readable storage medium, such as a read only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiments may be implemented in hardware, for example, by an integrated circuit to implement its corresponding function, or in software, for example, by a processor executing a program/instruction stored in a memory to implement its corresponding function. The present invention is not limited to any specific form of combination of hardware and software.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A tracking engine, comprising: the unit FIFO unit, the controllers which are respectively arranged corresponding to the satellite and the tracking channels which are connected with the controllers according to the one-to-one corresponding relation; wherein,
the unit FIFO unit is used for transmitting the received unit data to each controller according to a preset period;
each controller is respectively used for determining navigation signals to be processed of a tracking channel connected with the controller; detecting the first unit data containing the data starting point of the navigation signal from the unit data output by the FIFO; starting from the detected unit data containing the data starting point, sending each unit data to a tracking channel connected with the tracking channel;
each tracking channel is respectively used for receiving the unit data sent by the controller and respectively carrying out correlation integral calculation on each unit data according to the detected data starting point to obtain a correlation integral result;
wherein, the unit data is superposed with navigation signals of two or more satellites;
the unit includes: a minimum length unit of one ranging code period.
2. The tracking engine of claim 1, wherein the unit data comprises: the data length is 1 millisecond of data.
3. The tracking engine of claim 1,
and each controller is further used for recording the detected unit data of the data starting point of the first navigation signal through preset control bit information when the unit data of the data starting point of the first navigation signal is detected.
4. The trace engine according to any one of claims 1 to 3, wherein the trace channel is configured to perform a correlation integral calculation for each unit data according to the detected data start point, and comprises:
for the unit data of the detected data starting point, carrying out correlation integral calculation of the data of unit length from the detected data starting point, and marking the ending position of the unit length by identification information;
and for each unit data after the unit data of the starting point of the data are detected, performing correlation integral calculation of the data of one unit length from the end position according to the identification information, and marking the end position of the unit length when the correlation integral calculation of each unit data is completed through the identification information.
5. The tracking engine of claim 4, wherein the identification information comprises: count information.
6. A method for performing a correlation integration process, comprising:
respectively transmitting the unit data to preset controllers which correspond to the satellites one by one according to a preset period;
each controller respectively determines navigation signals to be processed of a tracking channel connected with the controller; detecting a first unit data including a data start point of the navigation signal from the received unit data;
starting from the detected unit data containing the data starting point, sending each unit data to a tracking channel connected with the tracking channel;
each tracking channel respectively carries out correlation integral calculation on each received unit data according to the detected corresponding data starting point to obtain a correlation integral result;
wherein, the unit data is superposed with navigation signals of two or more satellites;
the unit includes: a minimum length unit of one ranging code period.
7. The method of claim 6, wherein the unit data comprises: the data length is 1 millisecond of data.
8. The method of claim 6, wherein upon detecting a first unit of data comprising a start of data for the navigation signal, the method further comprises:
and recording the detected unit data of the first data starting point containing the navigation signal through preset control bit information.
9. The method according to any one of claims 6 to 8, wherein the performing the correlation integral calculation for each unit data according to the detected data start point comprises:
for the unit data of the detected data starting point, carrying out correlation integral calculation of the data of unit length from the detected data starting point, and marking the ending position of the unit length by identification information;
and for each unit data after the unit data of the starting point of the data are detected, performing correlation integral calculation of the data of one unit length from the end position according to the identification information, and marking the end position of the unit length when the correlation integral calculation of each unit data is completed through the identification information.
10. The method of claim 9, wherein the identification information comprises: count information.
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| CN112462395A (en) * | 2020-12-22 | 2021-03-09 | 成都北斗奇芯科技有限公司 | Implementation method of low-cost multi-channel GNSS tracking integration engine |
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| CN105137460A (en) * | 2015-08-27 | 2015-12-09 | 武汉梦芯科技有限公司 | Satellite navigation system baseband signal processing system and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112462395A (en) * | 2020-12-22 | 2021-03-09 | 成都北斗奇芯科技有限公司 | Implementation method of low-cost multi-channel GNSS tracking integration engine |
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